CN110529692A - A kind of Multifunctional pipeline robot - Google Patents
A kind of Multifunctional pipeline robot Download PDFInfo
- Publication number
- CN110529692A CN110529692A CN201910846630.3A CN201910846630A CN110529692A CN 110529692 A CN110529692 A CN 110529692A CN 201910846630 A CN201910846630 A CN 201910846630A CN 110529692 A CN110529692 A CN 110529692A
- Authority
- CN
- China
- Prior art keywords
- path transfer
- mandrel
- pipeline robot
- multifunctional pipeline
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/16—Coating by application of fluent materials, e.g. painting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The purpose of the present invention is to provide a kind of Multifunctional pipeline robots, can walk over long distances along different gradient or diameter pipes for solving, to cooperate the technical issues of different function component in pipeline to polishing, cleaning, painting or detecting.A kind of Multifunctional pipeline robot, including control system, support frame mechanism, path transfer mechanism, auxiliary guide mechanism, positioning adjustment mechanism, battery and extension function connects mouth.Support frame mechanism plays the role of installation and fixed other functional components；Path transfer mechanism is by adjusting radial support distance to adapt to the steel pipe of different size calibers；Auxiliary guide mechanism plays the role of Auxiliary support walking；Adjustment mechanism is positioned for path transfer mechanism described in location and installation；Battery is used to power to device；According to requirements, extension function connects mouth is for installing polishing, cleaning, spray painting or detection components etc..
Description
Technical field
The present invention relates to constructing device technical field in pipeline, specifically a kind of Multifunctional pipeline robot.
Background technique
Steel pipe is widely used as a kind of effective material transportation means in multiple production fields.In order to
The generation for improving pipeline life, preventing the accidents such as leakage, it is necessary to which effective anti-corrosion is carried out to inner wall of the pipe, especially welded junction part
And detection.
Pipelines robot in the prior art can only often apply the inner cavity of pipe of particular conduit diameter or slope
Work, and the pipeline of multiple caliber or the gradient can not be suitable for.Also, these pipe robots mostly use passive wheeled, crawler type
Equal labyrinths, cause that equipment volume is big, power consumption is high.Simultaneously because the electromagnetic shielding action of steel pipe, is not available wireless control
Mode；Pipe robot control, power pack drag cable internal resistance cause huge voltage drop, cause travel distance short.
Summary of the invention
The purpose of the present invention is to provide a kind of Multifunctional pipeline robots, can be along different gradient or diameter tube for solution
Long range is walked in road, to cooperate the technical issues of different function component in pipeline to polishing, cleaning, painting or detecting.
The technical scheme adopted by the invention to solve the technical problem is that:
A kind of Multifunctional pipeline robot, including control system, support frame mechanism, path transfer mechanism and extension function connects
Mouthful；
Support frame mechanism includes mandrel and the center support that is mounted on mandrel, and the circumference of center support divides upwards
It is not equipped at intervals with multiple swing rod hinge joints；Extension function connects mouth is connected to the rear end of mandrel；
Path transfer mechanism includes path transfer sliding block, path transfer connecting rod, path transfer swing rod and driving roll wheel assembly；Section that path transfer sliding block is adjustable
That sets is mounted on mandrel, one end of path transfer swing rod and central supported bridge joint, and the longitudinal extension of path transfer swing rod is equipped with more
A path transfer connecting hole, one end of path transfer connecting rod and path transfer connecting hole are hinged, and the path transfer connecting rod other end and the path transfer sliding block are hinged；
The driving roll wheel assembly is mounted on the outer end of path transfer swing rod；The control system includes that the control system includes manipulation
Plate and controller, controller are arranged on support frame mechanism, and controller passes through cable and manipulation plate and driving roller group respectively
Part electrical connection.
Preferably, the circumference of the center support is respectively separated 120 ° upwards and is equipped with 3 swing rod hinge joints.
Preferably, the mandrel is equipped with battery.
Preferably, the manipulation plate is electrically connected with the controller by communication cable, and the inner end of communication cable passes through aviation company
Device is connect to connect with the end of the mandrel.
Preferably, the threading hole for allowing cable to pass through is equipped in the mandrel.
Preferably, the motor of the driving roll wheel assembly uses brushless motor speed reducer.
Preferably, the mandrel is equipped with auxiliary guide mechanism, and auxiliary guide mechanism includes that auxiliary guide wheels and auxiliary are led
To seat, it is respectively separated on auxiliary guide holder circumferencial direction and auxiliary guide wheels is installed.
Preferably, the auxiliary guide wheels use universal wheel.
Preferably, positioning adjustment mechanism is equipped at the path transfer sliding block, positioning adjustment mechanism includes adjusting nut and positioning
Nut, location nut are located at the interior end side of the path transfer sliding block and are spirally connected with the mandrel, and it is sliding that adjusting nut is located at the path transfer
The outer end side of block is simultaneously spirally connected with the mandrel.
Preferably, buffer spring is provided between the adjusting nut and path transfer sliding block.
The effect provided in summary of the invention is only the effect of embodiment, rather than invents all whole effects, above-mentioned
A technical solution in technical solution have the following advantages that or the utility model has the advantages that
1, the Multifunctional pipeline robot designed in technical solution of the present invention can be according to the big of caliber using path transfer mechanism
The amplitude of oscillation of minor adjustment path transfer swing rod, adapts to the construction requirement of a variety of calibers or gradient pipeline.
2, integrated efficient storage battery power supply on mandrel, gets rid of the puzzlement of bulky service cable, uses in conjunction with communication cable
High soft communication cable connection remote control hand-held box carries out action control, thoroughly solves long-distance pipe construction needs.
3, the extension function connects mouth of mandrel end setting can install connection polishing, cleaning, spray painting and detection components,
Solve a variety of construction requirements.
4, it positions and utilizes adjusting nut, buffer spring and location nut in adjustment mechanism, to the path transfer sliding block shape on mandrel
At being fixed, loosened after preventing path transfer sliding block from positioning.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the embodiment of the present invention；
Fig. 2 is another orientation stereoscopic schematic diagram of the embodiment of the present invention；
Fig. 3 is front end of embodiment of the present invention schematic side view；
Fig. 4 is rear end of embodiment of the present invention schematic side view；
In figure: 1, battery；2, function connects mouth is extended；3, center support；4, mandrel；5, path transfer sliding block；6, path transfer
Connecting rod；7, path transfer swing rod；8, roll wheel assembly is driven；9, adjusting nut；10, buffer spring；11, location nut；12, communication electricity
Cable；13, aerospace connectors；14, controller；15, threading hole；16, auxiliary guide wheels；17, guide holder is assisted.
Specific embodiment
In order to clearly illustrate the technical characterstic of this programme, below by specific embodiment, and its attached drawing is combined, to this
Invention is described in detail.It should be noted that illustrated component is not drawn necessarily to scale in the accompanying drawings.Present invention omits right
Known assemblies and technical description are to avoid being unnecessarily limiting the present invention.
As shown in Figures 1 to 4, a kind of Multifunctional pipeline robot, including it is control system, support frame mechanism, path transfer mechanism, auxiliary
Help guiding mechanism, positioning adjustment mechanism, battery 1 and extension function connects mouth 2.Support frame mechanism plays installation and fixation is other
The effect of functional component；Path transfer mechanism is by adjusting radial support distance to adapt to the steel pipe of different size calibers；Auxiliary guiding
Mechanism plays the role of Auxiliary support walking；Adjustment mechanism is positioned for path transfer mechanism described in location and installation；Battery 1 is for giving
Device power supply；According to requirements, extension function connects mouth 2 is for installing polishing, cleaning, spray painting or detection components etc..
Support frame as described above mechanism includes center support 3 and mandrel 4, and center support 3 is mounted on mandrel 4.Center branch
The swing rod connecting hole of the adjustment radial support amplitude of oscillation is respectively provided in 120 ° of orientation of circle spacing of support 3；Battery 1 passes through
Locking nut is mounted on the front end of mandrel 4, and the inner hole thread and 4 rear end screw thread of mandrel of the extension function connects mouth 2 connect
It connects.The path transfer mechanism includes path transfer sliding block 5, path transfer connecting rod 6, path transfer swing rod 7 and driving roll wheel assembly 8.Path transfer sliding block 5 is with core
Centered on axis 4, it is mounted on the front end of mandrel 4；Hinged tune is respectively provided in 120 ° of orientation of circle spacing of path transfer sliding block 5
The connecting rod interconnecting hole of 6 inner end of diameter connecting rod.The rear end of the path transfer swing rod 7 is equipped with to be connected with 3 upper pendulum bar of center support
The hinged rear connecting hole of hole matching is connect, the rear end of path transfer swing rod 7 and center support 3 pass through bolted splice.Path transfer swing rod 7 is indulged
Be equipped with to extending direction it is multiple with the hinged path transfer connecting hole in 6 outer end of path transfer connecting rod, the outer end of path transfer connecting rod 6 by bolt with
Path transfer connecting hole on path transfer swing rod 7 is hinged, and the inner end of path transfer connecting rod 6 is hinged by bolt and the path transfer sliding block 5.The tune
The outer end of diameter swing rod 7 is equipped with U-shaped mounting groove, and driving roll wheel assembly 8 is mounted in U-shaped mounting groove and is consolidated with motor locking nut
It is fixed；The motor of driving roll wheel assembly 8 preferably uses brushless motor speed reducer, and the control line of brushless motor speed reducer is from its core axle hole
Middle extraction.The positioning adjustment mechanism includes adjusting nut 9, buffer spring 10 and location nut 11, and location nut 11 is located at institute
State the interior end side of path transfer sliding block 5 and be spirally connected with the mandrel 4, adjusting nut 9 be located at the outer end side of the path transfer sliding block 5 and with institute
It states mandrel 4 to be spirally connected, the buffer spring 10 is set between adjusting nut 9 and path transfer sliding block 5.Buffer spring 10 uses adjusting nut
9 compression loosens after preventing path transfer sliding block 5 from positioning.The auxiliary guide mechanism includes auxiliary guide wheels 16 and auxiliary guiding
Seat 17, auxiliary guide holder 17 are mounted on mandrel 4 and between the center support 3 and batteries 1, auxiliary guide wheels 16
It is separately mounted on auxiliary guide holder 17 in interval on 120 ° of circumferencial directions；Universal wheel preferably can be used in auxiliary guide wheels 16.
The control system includes communication cable 12, aerospace connectors 13, remote control hand-held box (manipulation plate) and control
Device 14 processed.Controller 14 is bolt-connected on center support 3, and remote control hand-held box passes through communication cable and controller
14 signal input part electrical connection；The inner end of communication cable 12 is connect by aerospace connectors 13 with the end of the mandrel 4, core
The threading hole 15 for allowing cable to pass through is equipped in axis 4.The signal output end of the controller 14 respectively with the driving roller group
The motor of part 8 is electrically connected.The present apparatus when in use, according to requirements will polishing, cleaning, spray painting or detection components and extension function
It can the connection of connector 2；Adjust position of the location nut 11 on mandrel 4, adjustment path transfer swing rod 7 arranges amplitude, rotate simultaneously
Adjusting nut 9 makes the soft or hard appropriateness of buffer spring 10；Multifunctional pipeline robot is sent into steel pipe nozzle, starts remote control hand-held
Box realizes the function control to Multifunctional pipeline robot.
Except for the technical features described in the specification, it all is technically known to those skilled in the art.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, based on the technical solution of the present invention, those skilled in the art, which do not need to pay for creative labor, to be done
Various modifications or changes out are still within the scope of the present invention.
Claims (10)
1. a kind of Multifunctional pipeline robot, characterized in that including control system, support frame mechanism, path transfer mechanism and extension function
It can connector；
Support frame mechanism includes mandrel and the center support that is mounted on mandrel, between the circumference of center support is distinguished upwards
Every equipped with multiple swing rod hinge joints；Extension function connects mouth is connected to the rear end of mandrel；
Path transfer mechanism includes path transfer sliding block, path transfer connecting rod, path transfer swing rod and driving roll wheel assembly；Path transfer sliding block adjustable position
It is mounted on mandrel, one end of path transfer swing rod and central supported bridge joint, the longitudinal extension of path transfer swing rod is equipped with multiple tune
Diameter connecting hole, one end of path transfer connecting rod and path transfer connecting hole are hinged, and the path transfer connecting rod other end and the path transfer sliding block are hinged；It is described
Driving roll wheel assembly is mounted on the outer end of path transfer swing rod；The control system include the control system include manipulation plate and
Controller, controller are arranged on support frame mechanism, and controller passes through cable and manipulation plate and driving roll wheel assembly electricity respectively
Connection.
2. a kind of Multifunctional pipeline robot according to claim 1, characterized in that the circumference of the center support to
On be respectively separated 120 ° be equipped with 3 swing rod hinge joints.
3. a kind of Multifunctional pipeline robot according to claim 1, characterized in that the mandrel is equipped with battery.
4. a kind of Multifunctional pipeline robot according to claim 1, characterized in that the manipulation plate passes through communication cable
It is electrically connected with the controller, the inner end of communication cable is connect by aerospace connectors with the end of the mandrel.
5. a kind of Multifunctional pipeline robot according to claim 1, characterized in that being equipped in the mandrel allows cable
By threading hole.
6. a kind of Multifunctional pipeline robot according to claim 1, characterized in that the motor of the driving roll wheel assembly
Using brushless motor speed reducer.
7. a kind of Multifunctional pipeline robot according to claim 1, characterized in that the mandrel is equipped with auxiliary guiding
Mechanism, auxiliary guide mechanism include auxiliary guide wheels and auxiliary guide holder, assist being respectively separated installation on guide holder circumferencial direction
There are auxiliary guide wheels.
8. a kind of Multifunctional pipeline robot according to claim 7, characterized in that the auxiliary guide wheels are using universal
Wheel.
9. a kind of Multifunctional pipeline robot according to claim 1, characterized in that be equipped with positioning at the path transfer sliding block
Adjustment mechanism, positioning adjustment mechanism includes adjusting nut and location nut, and location nut is located at the interior end side of the path transfer sliding block
And be spirally connected with the mandrel, adjusting nut is located at the outer end side of the path transfer sliding block and is spirally connected with the mandrel.
10. a kind of Multifunctional pipeline robot according to claim 9, characterized in that the adjusting nut and path transfer are sliding
Buffer spring is provided between block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846630.3A CN110529692A (en) | 2019-09-06 | 2019-09-06 | A kind of Multifunctional pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846630.3A CN110529692A (en) | 2019-09-06 | 2019-09-06 | A kind of Multifunctional pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110529692A true CN110529692A (en) | 2019-12-03 |
Family
ID=68667957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910846630.3A Pending CN110529692A (en) | 2019-09-06 | 2019-09-06 | A kind of Multifunctional pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110529692A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111765323A (en) * | 2020-07-06 | 2020-10-13 | 山东瑞泓智能科技有限公司 | Pipeline flaw detection method |
| CN111765324A (en) * | 2020-07-06 | 2020-10-13 | 山东瑞泓智能科技有限公司 | Pipeline inspection equipment |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN116673162A (en) * | 2023-07-28 | 2023-09-01 | 山东翁派斯环保科技有限公司 | Pipe fitting coating device |
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| CN108662353A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline robot |
| CN108994847A (en) * | 2018-07-16 | 2018-12-14 | 中科新松有限公司 | A kind of robot |
| CN209146597U (en) * | 2018-10-31 | 2019-07-23 | 南京工程学院 | A kind of multi-locomotion mode pipe robot |
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2019
- 2019-09-06 CN CN201910846630.3A patent/CN110529692A/en active Pending
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| US20020190682A1 (en) * | 2001-03-07 | 2002-12-19 | Hagen Schempf | Gas main robotic inspection system |
| CN106641572A (en) * | 2017-01-13 | 2017-05-10 | 温州职业技术学院 | Intelligent remote control self-adaption pipe robot |
| CN106870872A (en) * | 2017-03-30 | 2017-06-20 | 西安长庆科技工程有限责任公司 | A kind of pipe endoscopic detects robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111765323A (en) * | 2020-07-06 | 2020-10-13 | 山东瑞泓智能科技有限公司 | Pipeline flaw detection method |
| CN111765324A (en) * | 2020-07-06 | 2020-10-13 | 山东瑞泓智能科技有限公司 | Pipeline inspection equipment |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN112630229B (en) * | 2021-03-09 | 2021-06-18 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN116673162A (en) * | 2023-07-28 | 2023-09-01 | 山东翁派斯环保科技有限公司 | Pipe fitting coating device |
| CN116673162B (en) * | 2023-07-28 | 2023-09-22 | 山东翁派斯环保科技有限公司 | Pipe fitting coating device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20191203 |